6 * lib.c - library for command line tools
8 * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
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24 * software may be distributed under the terms of the GNU General
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28 * The provided data structures and external interfaces from this code
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51 #include <sys/socket.h> /* for sa_family_t */
52 #include <linux/can.h>
56 #define CANID_DELIM '#'
57 #define DATA_SEPERATOR '.'
59 #define MAX_CANFRAME "12345678#01.23.45.67.89.AB.CD.EF"
60 #define MAX_LONG_CANFRAME "12345678 [8] 10101010 10101010 10101010 10101010 10101010 10101010 10101010 10101010 '........'"
62 static int asc2nibble(char c) {
64 if ((c >= '0') && (c <= '9'))
67 if ((c >= 'A') && (c <= 'F'))
70 if ((c >= 'a') && (c <= 'f'))
73 return 16; /* error */
76 int parse_canframe(char *cs, struct can_frame *cf) {
77 /* documentation see lib.h */
79 int i, idx, dlc, len, tmp;
82 //printf("'%s' len %d\n", cs, len);
84 memset(cf, 0, sizeof(*cf)); /* init CAN frame, e.g. DLC = 0 */
89 if (!((cs[3] == CANID_DELIM) || (cs[8] == CANID_DELIM)))
92 if (cs[8] == CANID_DELIM) { /* 8 digits */
96 if ((tmp = asc2nibble(cs[i])) > 0x0F)
98 cf->can_id |= (tmp << (7-i)*4);
100 if (!(cf->can_id & CAN_ERR_FLAG)) /* 8 digits but no errorframe? */
101 cf->can_id |= CAN_EFF_FLAG; /* then it is an extended frame */
103 } else { /* 3 digits */
107 if ((tmp = asc2nibble(cs[i])) > 0x0F)
109 cf->can_id |= (tmp << (2-i)*4);
113 if((cs[idx] == 'R') || (cs[idx] == 'r')){ /* RTR frame */
114 cf->can_id |= CAN_RTR_FLAG;
118 for (i=0, dlc=0; i<8; i++){
120 if(cs[idx] == DATA_SEPERATOR) /* skip (optional) seperator */
123 if(idx >= len) /* end of string => end of data */
126 if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
128 cf->data[i] = (tmp << 4);
129 if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
140 void fprint_canframe(FILE *stream , struct can_frame *cf, char *eol, int sep) {
141 /* documentation see lib.h */
143 char buf[sizeof(MAX_CANFRAME)+1]; /* max length */
145 sprint_canframe(buf, cf, sep);
146 fprintf(stream, "%s", buf);
148 fprintf(stream, "%s", eol);
151 void sprint_canframe(char *buf , struct can_frame *cf, int sep) {
152 /* documentation see lib.h */
156 if (cf->can_id & CAN_ERR_FLAG) {
157 sprintf(buf, "%08X#", cf->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG));
159 } else if (cf->can_id & CAN_EFF_FLAG) {
160 sprintf(buf, "%08X#", cf->can_id & CAN_EFF_MASK);
163 sprintf(buf, "%03X#", cf->can_id & CAN_SFF_MASK);
167 if (cf->can_id & CAN_RTR_FLAG) /* there are no ERR frames with RTR */
168 sprintf(buf+offset, "R");
170 for (i = 0; i < cf->can_dlc; i++) {
171 sprintf(buf+offset, "%02X", cf->data[i]);
173 if (sep && (i+1 < cf->can_dlc))
174 sprintf(buf+offset++, ".");
180 void fprint_long_canframe(FILE *stream , struct can_frame *cf, char *eol, int view) {
181 /* documentation see lib.h */
183 char buf[sizeof(MAX_LONG_CANFRAME)+1]; /* max length */
185 sprint_long_canframe(buf, cf, view);
186 fprintf(stream, "%s", buf);
188 fprintf(stream, "%s", eol);
191 void sprint_long_canframe(char *buf , struct can_frame *cf, int view) {
192 /* documentation see lib.h */
194 int i, j, dlen, offset;
196 if (cf->can_id & CAN_ERR_FLAG) {
197 sprintf(buf, "%8X ", cf->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG));
199 } else if (cf->can_id & CAN_EFF_FLAG) {
200 sprintf(buf, "%8X ", cf->can_id & CAN_EFF_MASK);
203 sprintf(buf, "%3X ", cf->can_id & CAN_SFF_MASK);
207 sprintf(buf+offset, "[%d]", cf->can_dlc);
210 if (cf->can_id & CAN_RTR_FLAG) { /* there are no ERR frames with RTR */
211 sprintf(buf+offset, " remote request");
215 if (view & CANLIB_VIEW_BINARY) {
216 dlen = 9; /* _10101010 */
217 for (i = 0; i < cf->can_dlc; i++) {
219 for (j = 7; j >= 0; j--)
220 buf[offset++] = (1<<j & cf->data[i])?'1':'0';
222 buf[offset] = 0; /* terminate string */
225 for (i = 0; i < cf->can_dlc; i++) {
226 sprintf(buf+offset, " %02X", cf->data[i]);
231 if (cf->can_id & CAN_ERR_FLAG)
232 sprintf(buf+offset, "%*s", dlen*(8-cf->can_dlc)+13, "ERRORFRAME");
233 else if (view & CANLIB_VIEW_ASCII) {
234 j = dlen*(8-cf->can_dlc)+4;
235 sprintf(buf+offset, "%*s", j, "'");
238 for (i = 0; i < cf->can_dlc; i++)
239 if ((cf->data[i] > 0x1F) && (cf->data[i] < 0x7F))
240 buf[offset++] = cf->data[i];
244 sprintf(buf+offset, "'");